CN101646881B - Device for vibration control of a structure - Google Patents
Device for vibration control of a structure Download PDFInfo
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- CN101646881B CN101646881B CN2007800498208A CN200780049820A CN101646881B CN 101646881 B CN101646881 B CN 101646881B CN 2007800498208 A CN2007800498208 A CN 2007800498208A CN 200780049820 A CN200780049820 A CN 200780049820A CN 101646881 B CN101646881 B CN 101646881B
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- plastid
- rotating shaft
- plastids
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- distance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/22—Compensation of inertia forces
- F16F15/223—Use of systems involving rotary unbalanced masses where the phase-angle of masses mounted on counter-rotating shafts can be varied
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/21—Elements
- Y10T74/211—Eccentric
- Y10T74/2111—Plural, movable relative to each other [including ball[s]]
Abstract
The invention relates to a device for vibration control of a structure having - two mass bodies (10,20) which are mounted so as to be rotatable about in each case one rotational axis (12,22), wherein the two rotational axes extend in the same direction and the centre of gravity of each mass body has a spacing (r1,r2) from the associated rotational axis, - a drive which sets each mass body (10,20)in a circulating rotational movement, at least one sensor (40) which measures a movement or acceleration of the structure (30) and - a controller which, on the basis of the measured movement or acceleration, controls at least one of the following variables: - the rotational angle (phi1, phi2) of the rotational movement of at least one mass body (10, 20), - the spacing (a) of the rotational axis (12) of a mass body (10) from the rotational axis (22) of the other mass body (20).
Description
Building construction, land and marine communication means, aircraft and astrovehicle, and other machines, device or equipment, below be collectively referred to as structure (structures), can be because of dynamic force (dynamically acting forces) cause vibration, wherein this dynamic force can weaken the stability of operability, durability and structure and operation.As the part of structural design, need to analyze the possibility and the influence power of this vibration.If necessary, through taking suitable mode, this vibration will be inhibited or be restricted.A kind of possible method is a ruggedized construction, yet this method needs more material, produces bigger weight and causes higher cost.
Passive type or active control system can be a kind of wisdom and economic selection, and this system offsets vibration to additional force (additional forces) drawing-in system, reduce the impact that vibration produces with this.Be called as with regard to the active mechanical damper (active mechanicaldamper) with regard to a kind of, move or quicken to produce above-mentioned additional force by quality of assistance piece (auxiliary masses) usually.Under the control action of this orientation (targeted), mobile or the acceleration of those quality of assistance pieces is as performance variable, and these performance variables must be parameter, the structure motions that records according to system and perhaps be to obtain by calculating and adjusting according to the environmental conditions (closed loop control closed-loop control) that records.The structure of these types is used on the tall building of seismic region already.(referring to document Housner, G.W.; Bergmann, L.A.; Caughey, T.K.; Chassiakos, A.G.; Claus, R.O.; Masri, S.F.; Skelton, R.E.; Soong, T.T.; Spencer, B.F.; Yao, J.T.P. " Structural Control:Past, Present; and Future " (" structure control: past, present and future "), Journal of EngineeringMechanics (" mechanical engineering magazine "), 9 (123), 1997,897-971)
People have numerous demands to vibration control apparatus, and on some degree, these demands can be offset design result.On the one hand, these power that produced by control system need to try one's best to regulate according to time and space.On the other hand, in order to realize better operability, Security and lower construction cost, design principle should be simple as far as possible.Other standard comprises extremely complete closed loop control, and MIN rational energy demand.
A kind of device that reduces the supporting structure vibration comprises the plastid (mass body) that a pair of quilt is installed pivotally, and this is set at plastid on the relative both sides of an axle, can know the technological scheme of this set from document WO 2005/116340 A1.According to the explanation of a control unit, a driver moves described plastid, make they by default angle with the perpendicular plane of described axle in rotate, wherein said control unit can be made a response to the position and/or the motion value of the described supporting structure that records.
A kind of as can be known vibration damping equipment that is used to reduce oscillating movement from document WO 2006/029851A, wherein, a pair of plastid is attached to the two ends of a rotatable beam that assembles, and be set on the relative both sides of this beam rotating shaft, wherein, rotatablely moving of this beam can be preset, and perhaps, is subjected to the ACTIVE CONTROL of actuator or is subjected to spring and/or the Passive Control of damping element (dampingelements).Thus, being oppositely arranged according to this beam of described two plastids is predetermined.
From the summary of Japanese documentation 06147258 A, learn a kind of vibration damping equipment, it comprises a gear and second gear with outer teeth groove (external cogging) with internal spline (internal cogging), and wherein said internal spline is meshed with described outer teeth groove.The diameter of described second gear is half of aforementioned external teeth wheel diameter, and this second gear is equipped with a pouring weight (weight) on its periphery.This second gear rotates in this external gear by the bar that is arranged on central authorities.
Learn another kind of vibration damping equipment from the summary of Japanese documentation 2000120764 A, it has two opposed rotatable dish, and wherein, these two dish also are equipped with the eccentric less dish that is provided with.Described less dish is supporting a pouring weight prejudicially.By adjusting the angle position (angular position) of this less dish with respect to this bigger dish, between described pouring weight and the rotating shaft apart from can regulate.
Task of the present invention provides a kind of device that is used for structural vibration control, compares with existing apparatus, and it can be so that more balance, better method satisfy existing demand.
This task is to finish by a kind of device that is used for structural vibration control, and this device has the described feature of claim 1.Preferred embodiment is as the theme of appurtenance.
Be used for the device of structural vibration control according to the present invention, it has:
-two plastids, each plastid is rotatably installed around rotating shaft, and wherein said two rotating shafts are extended on same direction, and have a segment distance between the rotating shaft of the center of gravity of each described plastid and correspondence;
-driver, described driver go in ring each described plastid to rotatablely move (circulation rotation motion);
-at least one inductor is used to measure the motion or the acceleration of structure; And
-controller, described controller are controlled at least one following variable based on the motion or the acceleration of the described structure that records:
The rotational angle that rotatablely moves of-at least one plastid (rotational angle);
Distance between the rotating shaft of-one described plastid and the rotating shaft of another described plastid.
Coined term " two unbalance rotor " (double unbalance rotor) is used to describe according to device of the present invention herein.
Distance between the rotating shaft of the center of gravity of plastid and correspondence makes each plastid produce an imbalance state.Two rotating shafts are extended on same direction, and for example, they are parallel to each other.Described rotating shaft can be separated from each other or be set at together, and for example, their overlap.The sense of rotation of each plastid is arbitrarily in the starting stage.Two plastids rotatablely move (circulatingrotational motion) that go in ring.Because the existence of centripetal force (centripetal forces), so each plastid that produces imbalance state produces an interim pulsating force (fluctuating force) to its rotating shaft.
Therefore, the structure of making a concerted effort to depend on described device that is produced by described two plastids wherein, is describedly applied by the described device that is used for vibration control with joint efforts.Particularly, the factor that plays a decisive role comprises: the quality size of described two plastids, rotational speed, two distance between the rotating shaft of the rotating shaft of a phase relationship (phase relation) between (having the speed that equates on the numerical value) and a described plastid and another described plastid that rotatablely moves.Thus, above-mentioned pulsating force is fixing or variable basically.Can realize the force action result of an orientation by controller, so that control, especially reduce the vibration with described device connected structure, but the description that wherein said controller is based on claim 1 obtains according in a plurality of application change examples of the present invention at least one.By suitable control, can produce the effect of a torsional interaction and a power, wherein, this torsional interaction occurs on the direction of described rotating shaft (for example, the moment of torsion on described axle direction), and the effect of described power is perpendicular to the direction of described rotating shaft.Above-mentioned pulsation variable is depended in the effect of described motion and power conversion in time, and can be default with number of ways by the structure according to device of the present invention and controller.Rotatablely move by the belt of described two plastids, and when described rotational speed when being constant, can produce periodic force and moment of torsion (periodic forces and torques), wherein, described driver only must keep rotatablely moving of described two plastids.Therefore, described device is especially energy-conservation.Under rotational speed is not constant situation, also can produce torsional interaction and the effect of power aperiodic.
In a preferred embodiment of the invention, provide a kind of inductor that is used for the measurement environment condition.This environmental conditions can be that for example, wind speed or ground acceleration are under at seismic condition.In case of necessity, also can use a plurality of inductors, they can measure different environmental conditionss.The controller that has possessed described device helps making full use of this device, and wherein this controller can be considered those environmental conditionss.For example, this device can only just enter working state when wind speed surpasses some values.
In a preferred embodiment of the invention, the rotational speed of described two plastids is same high rotating speed.Can make like this this device with one described two the rotation plastids between fixed phase relation operate.Associating rotational speed (joint rotationalspeed) along with two plastids produces a simple harmonic quantity power (harmonic force) effect or torsional interaction thus.
In another preferred embodiment of the present invention, described two plastids have identical quality.Under the situation that these two plastids are arranged rightly, these two the rotation plastid with and easy mode reach same imbalance state.Especially, by coordinating, plastid independently component of component interaction energy and another plastid offsets do not produce so that realize the simple running of described device any with joint efforts, component and/or moment of torsion.
In another preferred embodiment of the present invention, for described two plastids, the distance that they arrive corresponding rotating shaft separately equates.Thus, the distance between the rotating shaft separately of described plastid and they can be fixed, and also can be variable.Identical in quality at plastid, and two plastids are under the equidistant situation of they each axis of rotation, each plastid can reach identical imbalance state.
According to a further advantageous embodiment of the invention, between the described rotating shaft corresponding with two plastids apart from can regulate.By regulating the distance between these two rotating shafts, with regard to the size that can regulate the moment of torsion that is produced.Thus, the controllability of described moment of torsion is the power that is independent of the additional generation of any necessity.
In another preferred embodiment of the present invention, at least one in described two plastids comprises two branch plastids (partial mass body), and they separate on the direction of described rotating shaft each other.Preferably, these two the branch plastids that form a plastid have equal size and unidirectional movement always.Particularly, can be set in the common rotating shaft at described two plastids that do not comprise the branch plastid (non-divided mass body) that go in ring between the branch plastid, so that avoid producing undesirable around axle moment, wherein, described axle vertical alignment is in this common shaft.
In another preferred embodiment of the present invention, the phase relationship between the rotatablely moving of described two plastids can be regulated by mechanical coupling (mechanical coupling).Can simplify control like this to phase relationship between these two plastids.Particularly, can use a gear mechanism that the phase difference between described two belt plastids is preset.
According to a further advantageous embodiment of the invention, rotatablely moving of described two plastids carried out with opposite direction.When these two plastids rotated in the opposite direction, the direction of simple harmonic quantity power effect can be determined by those points on the movement locus, wherein coordinate mutually in the position, angle of two plastids described in the movement process.Phase relationship between this direction can rotatablely move by default described two is determined.
According to a further advantageous embodiment of the invention, the rotating shaft of described two plastids overlaps.So just can not produce moment of torsion.So, only produce the effect of a power.
In another preferred embodiment of the present invention, rotatablely moving of described two plastids carried out with identical direction.Preferably, described two phase angles that rotatablely move (phase angle) are always 180 degree, that is, described two plastids always are in position respect to one another.So just allow on described rotor shaft direction, to produce a moment, and the effect of power can not take place simultaneously.
In another preferred embodiment of the present invention, described device and one second device are linked together, and wherein, the rotating shaft of first and second devices is extended on same direction.Thus, four rotating shafts are parallel to each other.So, these rotating shafts can be disconnected from each other, also can coincide.Two device gangs can produce a plurality of in described rotating shaft the scheme of generation power and moment.According to the structure of single assembly, can very easily regulate frequency, the size and Orientation of power and moment.The structure of single assembly is simplified thus, and/or required controlling cost is minimized.
According to a further advantageous embodiment of the invention, the rotating speed numerically equal of two plastids of the rotating speed of two of described first device plastids and described second device.Like this, the power of two devices and moment loading produce the simple harmonic quantity power and the moment of same frequency.
In another preferred embodiment of the present invention, described two devices are separated from each other.Preferably, between these two devices apart from can regulate.By this distance, can regulate the size of uniting the moment of generation by these two devices.
In another preferred embodiment of the present invention, the rotating shaft of the plastid of described two devices overlaps.In other words, the distance between these two devices is 0.All four rotating shafts are set up in a straight line thus.Can produce an especially compact structure like this, and can produce and anyly wish amplitude and perpendicular to the simple harmonic quantity power on any direction of described rotating shaft.By the phase angle of default described two single assemblies, can very easily regulate the amplitude and the direction of described power.
In another preferred embodiment of the present invention, two devices are by gang advantageously, and wherein each device also comprises two said apparatus.
According to a further advantageous embodiment of the invention, one controller is built into a reaction type controller (feedback control), it can determine performance variable (manipulated variables) based on the numerical value that at least one inductor records, send the control command that is used to control then, with the motion of the acceleration of controlling this structure.This means,, constantly adjust control command, so that realize the control task of inhibition or constrained vibration according to the temporal characteristics variation (temporal change) of measured numerical value.By this class reaction type controller, can form a closed loop control, it can reduce the motion or the vibration of the non-expectation of structure especially effectively.
In another preferred embodiment of the present invention, a plurality of described devices are distributed on the described structure.Obtain a kind of for example effective vibration control apparatus of bridge of large scale structure that is used in particular for thus.Preferably, the controller of single assembly or manager are by the harmony unanimity.Independently control or manage these devices, promptly independent mutually between them, also be possible, and, also may be advantageously.
In addition, other configuration also relates to, and the distance between at least one plastid and its corresponding rotating shaft in operation can be controlled and can be controlled, and controls this distance based on motion that records and acceleration by controller.
Hereinafter, will the present invention be described in more detail in conjunction with 7 embodiments shown in the drawings, they are:
Fig. 1 is the schematic diagram (schematic diagram) (basic principle) according to two unbalance rotors of the present invention;
Fig. 2 is the schematic diagram (changing routine 1a) of another embodiment of the present invention, and the plastid among this embodiment is with opposite direction rotation;
Fig. 3 is the schematic diagram (changing routine 1b) of another embodiment of the present invention, and the plastid among this embodiment is with opposite direction rotation, and rotating shaft overlaps;
Fig. 4 is the schematic diagram (changing routine 1c) of another embodiment of the present invention, and a plastid among this embodiment is made of two branch plastids;
Fig. 5 is the schematic diagram (changing routine 2a) of another embodiment of the present invention, and the plastid among this embodiment is with identical direction rotation;
Fig. 6 is the schematic diagram (changing example 3) of another embodiment of the present invention, and two two unbalance rotors among this embodiment are linked together;
Fig. 7 is the schematic diagram (changing routine 4c) of another embodiment of the present invention, and among this embodiment two two unbalance rotors are linked together, and its rotating shaft coincides, and wherein three in four unbalance plastids are replaced by two equal-sized minute plastids separately.
In two plastids of two unbalance rotors any one is made of an out-of-balance mass piece (unbalance mass).The rotating shaft corresponding with it of one out-of-balance mass piece is called as rotor (rotor).By means of basic mechanical figure, will they be described according to the effectiveness of unbalance rotor of this pair and embodiment, therefore, they will follow these basic mechanical principles.The selection that its technology realizes is diversified, these selections is not verified individually here.
That two unbalance rotors comprise is that two quilts are built in the same manner, have rotation out-of-balance mass piece 10 (m
1) or 20 (m
2) solid of rotation (Fig. 1).The axle 12,22 of described two solid of rotation is configured to parallel to each other, and a segment distance separated from each other between the two.Described out-of- balance mass piece 10,20 is with rotational speed omega
1Or ω
2Be rotated.In a closed loop control framework, described rotational speed omega
1And ω
2, phase relationship θ, the distance between described two rotating shafts and the radius r of described two out-of- balance mass pieces 10,20 between described two out-of-balance mass pieces, 10,20 angle of rotation
1Or r
2, two imbalance states size, these can both change as controlled variable.Another can be fed, and the formula controller is selected as controlled variable or the parameter of regulating is the sense of rotation of described two rotors, wherein, can carry out in the same way or counterrotating.Described controlled variable is based on the measurement to the motion of structure 30, in case of necessity, be based on environmental conditions in the closed loop control environment through calculating, in addition, these controlled variable can be regulated by servomotor (servomotors), hydraulic regulating device (hydraulic adjusting devices) or the actuator of other type.Coordination in the controlled variable of described two solid of rotation adjusted can partly be carried out by mechanical additional device.In specific embodiment, independent control variable (individual control variables) can be preset to constant or have preset relation.Particularly, the numerically equal of described two rotating speeds energy, promptly | ω
1|=| ω
2|=ω.Described two unbalance rotor is attached on the described structure 30.In order to improve effect or to realize special effect, multiple arrangement can be used among the identical or different embodiment, the coordinated unanimity of their operation or can independently carry out.
By said apparatus as single or multiple unit, more or less can be on required direction, produce simple harmonic quantity power or non-simple harmonic quantity power (non-harmonic forces) in frequency and the size, these masterpieces are used on the described structure 30.At device is that these power are by two power F under the situation of individual unit
x, F
yForm wherein said power F with a moment
x, F
yIn perpendicular to the plane of described rotating shaft 12,22 and orthogonal, described moment is on described rotating shaft 12,22 directions (for example, around this direction).By selecting suitable controlled variable as previously described, these three power can be distinguished or produce simultaneously.When producing simultaneously, can in wide range, regulate the scope or the size ratio of this active force.Producing frequency under constant rotational speed ω is ω/2 π simple harmonic quantity power.
Below, employed sign has following implication: φ among Fig. 1
1It is the rotational angle (in Fig. 1, the direction of this reference angle position is perpendicular to described two rotating shafts 12,22) of first plastid relative reference angle position in it rotatablely moves; φ
2It is the rotational angle of second plastid identical relatively reference angle position in it rotatablely moves; Necessary, the difference of described two rotational angle is θ, is called as phase angle (phase angle) herein; ω
1And ω
2Represent described two angular velocity that rotatablely move (angular velocities).When two angular velocity omegas=| ω
1|=| ω
2| with respect to the time numerically equal and when being constant, follow following rule: under the identical situation of sense of rotation, φ
1=ω t; φ
2=ω t+ θ; Or under the opposite situation of sense of rotation, φ
1=ω t; φ
2=-ω t+ θ.When sense of rotation is identical, φ
2-φ
1=θ, wherein, θ also represents the phase angle as general tems.When sense of rotation is opposite, φ
2-φ
1=-2 ω t+ θ, wherein the θ symbolic representation phase angle here is different with its implication in general tems.
The power that acts on the described structure 30 is used for described vibration control, and under the closed loop control environment, described masterpiece is that controlled variable is determined.In order to obtain higher control efficiency, wish can produce non-simple harmonic quantity, still have the cycle or do not have the cycle power enter rank (forceprogressions).This can produce by different rotational speed omega (t).One the entering rank and can obtain by a constant rotational speed ω of power of indention roughly, wherein, a harmony item time (harmonic term) Δ ω sin ω t is accumulated on the described rotational speed omega.For simpler and clearer statement, below commentary relates to the operation with constant rotational speed, and wherein, the operation with variation rotating speed is also always feasible, equally also is purpose of the present invention.
Fig. 2 shows an embodiment (changing routine 1a) of related device in the description of individual unit in front, wherein, and the equal and opposite in direction (m of two out-of- balance mass pieces 10,20
1=m
2=m), and they are with opposite direction rotation.This motion is by mathematical terms φ
1=ω t; φ
2=-ω t+ θ represents.(though these elements still exist for the closed loop control element among the not shown Fig. 1 of Fig. 2 to Fig. 7, for example inductor 40 and EDV 50).(they are positions of two described mass blockes to two joints (meeting points) of described out-of- balance mass piece 10,20, the position, angle of described rotor is being complementary on this position) on straight line 60 (g), this straight line tilts with certain angle γ=θ/2, and wherein the initial line of this angle is perpendicular to the connecting line (connecting line) of described two rotating shafts 12,22.Thus, described angle can be regulated by phase angle θ.So, a simple harmonic quantity power can produce on direction g, and a simple harmonic quantity moment M can produce on the direction of rotating shaft 12,22.When frequency remained unchanged, the size of described power can be by the change radius r
1, r
2Adjusted, wherein, adopt better simply parameter r usually
1=r
2If γ can be conditioned, g is in perpendicular on the position of the connecting line of described two rotating shafts 12,22 (γ=0), so, if r
1=r
2, only on the g direction, produce simple harmonic quantity power F.Like this, not not exerting an influence between described two rotating shafts 12,22 apart from size, so (in order to realize the compactest construction as far as possible), and this distance can be reduced to 0, and for example, these two rotating shafts are configured to overlap.
The mechanism of action of this device can be expanded by the direction of selecting required straight line 60 (g) and (among the variation example 1b of Fig. 3, forms following relation: φ
1=ω t; φ
2=-ω t+ θ).In this case, simple harmonic quantity power produces on a direction, and can not produce moment around the shaft simultaneously.The direction of this power can be adjusted by default phase angle θ.For fear of winding of not wishing to obtain moment perpendicular to the axle of described rotating shaft, can be by any out-of-balance mass piece is halved so that the center of gravity of described two out-of-balance mass pieces be arranged on the direction of described rotating shaft 12,22 to skew, wherein, describedly become unidirectional minute mass block 20a, 20b by binary mass block, they are set at the both sides (on the direction of described rotating shaft 12,22) of another out-of-balance mass piece 10, and the distance from this out-of-balance mass piece 10 equates (among the variation example 1c of Fig. 4, to form following relation: φ successively
1=ω t; φ
2=-ω t+ θ).The rotational angle of out-of- balance mass piece 10,20, and, divide the rotational angle of out-of- balance mass piece 20a, 20b if need, can preferably coordinate by a mechanical coupling (mechanical coupling), described mechanical coupling can be a gear mechanism.This is applicable to the embodiment that all are described in this article.
In the embodiment of another this device, an individual unit (changing routine 2a) as shown in Figure 5, its equal-sized out-of- balance mass piece 10,20 is along same direction rotation and have identical radius r.Wherein, phase deviation (phase shift) is θ=180 °, and promptly described two out-of- balance mass pieces 10,20 always are on the relative position.Following formula is followed in this motion: φ
1=ω t; φ
2T+180 ° of=-ω.This allows simple harmonic quantity moment M to produce on the direction of rotating shaft 12,22.The adjusting of the size of this moment can pass through to change the distance between described two rotating shafts 12,22, or as before, realizes by the radius r that also as one man changes described two mass blockes 10,20 simultaneously.If one in the described out-of- balance mass piece 10,20 is expressed as two equal-sized unidirectional minute mass block 20a, 20b (as the example of the variation among Fig. 4 2b, but can change between the rotating shaft herein) apart from a, so a is adjusted to a fractional value, when being a=0, then needn't handle the moment of winding of not wishing to obtain perpendicular to the axle of above-mentioned rotating shaft.So, the size of moment M is reduced to 0, also only temporarily needs this situation in the rank process (progression) in advancing of closed loop control.Favourable situation is that the rotational angle of described out-of-balance mass piece can obtain coordinating by a gear mechanism.
In another embodiment shown in Figure 6 (changing example 3), two devices identical with type shown in Fig. 2 (changing routine 1a) are by steric direction ground (spatially oriented) disposed at equal distance.The out-of- balance mass piece 10,20 of these two devices or 70, the 80 speed rotations with identical numerical value are regulated the phase angle in each device, so that each device only produces a simple harmonic quantity power and do not produce moment (θ
1=θ
2=0).Article two, straight line 60,62 (g
1, g
2) parallel to each other and perpendicular to the connecting line (γ between the rotating shaft 12,22 or 72,82 of two correspondences
1=γ
2=0), so the direction of power is also parallel to each other and perpendicular to the connecting line between the rotating shaft 12,22 or 72,82 of two correspondences.Have a distance b between described two devices, the direction of this distance is perpendicular to g
1, g
2So just can be created in g simultaneously
1, g
2Simple harmonic quantity power on the direction, and the simple harmonic quantity moment M on described rotating shaft 12,22 or 72,82 directions.By changing the radius (radius r of wherein said two devices of described out-of-balance mass piece (10,20 or 70,80)
1, r
2Independently of one another, and two radiuses on each device are adjusted to unanimity usually), change the phase angle θ between the angle of rotation of described out-of- balance mass piece 10,20 or 70,80 and change the size that two distance b between the device can be regulated described power and moment, and the phase angle between two power.
Two device respective embodiments (changing routine 4a, not shown) among another and the embodiment 3 (Fig. 6), wherein distance b is 0.So just can be when producing simple harmonic quantity power F and do not produce moment M.Phase angle θ between the angle of rotation of the out-of-balance mass piece by changing these two devices can very easily regulate the size of this power.Here no longer need to change the radius of out-of-balance mass piece.Power F action direction is perpendicular to the connecting line (if a ≠ 0) between described two corresponding rotating shafts, if these two rotating shafts are set up and overlap on the device (a=0) always, all four axles are set up point-blank (changing routine 4a, not shown) so.On the one hand, so just can obtain a structure of simplifying, and on the other hand, simple harmonic quantity power is created on the required direction perpendicular to described rotating shaft.Phase angle θ by default these two devices
1And θ
2, can regulate the direction of described power, wherein make the phase angle of two equipment be adjusted to equal (θ
1=θ
2).As previously described, by changing phase angle θ, the size that can regulate power F.For fear of generation wind perpendicular to rotating shaft 12,22,72,82 the axle moment, by being shown as two equal-sized unidirectional minute mass block 20a, 20b, 70a, 70b, 80a, 80b to three in described four out-of-balance mass pieces, wherein, these minutes, mass block always was set at both sides (on described rotor shaft direction), and the distance from the out-of-balance mass piece 10 that does not comprise the branch plastid equates, the center of gravity that can make all out-of-balance mass pieces so is not arranged on to skew on the direction of described rotating shaft (changes routine 4c, as shown in Figure 7).
In another embodiment (change example 5, not shown), two and change the identical device of type (changing routine 1a) described in routine 4a, 4b or the 4c, approximate variation example 3 is combined like that and uses, and wherein changes example 3 and develops from change routine 1a.Like this, from another point of view, can produce simple harmonic quantity power and simple harmonic quantity moment M along rotor shaft direction with same frequency perpendicular to rotating shaft.Except as changing example 3 (Fig. 6), need to change the radius of described out-of-balance mass piece, so that the size of adjusting power and moment and phase angle can also change the phase angle θ of described two devices according to changing routine 4a, 4b or 4c
1, θ
2
In another embodiment (change example 6, not shown), described device is unified into single or multiple unit in any way, or becomes and change one or more in the example 1 to 5.Wherein can both produce dissimilar and power frequency at every turn.For example, by (changing routine 1a as shown in Figure 2 changing example 1, it is adjusted to and only produces power and do not produce moment, perhaps change routine 1b, 1c) and change example 2 and join together, simple harmonic quantity power and simple harmonic quantity moment are produced independently of each other, and the size of these power and moment, frequency and phase relationship can be regulated in arbitrary mode.These two devices can be incorporated in the general purpose closed loop control, or both are arranged in the independent closed loop control independently of each other.Wherein, the technological scheme of a back autonomous operation (autonomous operation) can be simplified the reaction type control task.The closed loop control that is used to the power that produces is Displacement Measurement only, and rotation is only measured in the closed loop control that is used to produce moment.Take place at the same time multiple remain to be reduced have the vibrational mode of different frequency the time, these embodiments have advantage, wherein, for each vibrational mode, in different embodiments, multiple arrangement also can gang.
(change example 7 in another embodiment, not shown) in, described device, as single or multiple unit, or belong to and change one or more in the example 1 to 6, be encapsulated in the reservoir (container), wherein, described reservoir is by securely, but also separably, is connected on the described structure.Herein, favourable situation is, the selection of changing described reservoir is provided, and thus, just can provide the selection that is applicable to different structure, different operating and different loads condition, also can be provided at reusable selection on other structures.For the application (house and structure, water transportation device) of using relatively large out-of-balance mass piece, the standard container (20 ' or, 40 ' standard container) of 20 feet or 40 feet can be as above-mentioned reservoir.Consequent other advantages are easy and economic assembling and logistics (transportation, storage).Can adopt a plurality of reservoirs, wherein, the operation that is encapsulated in the device in the different reservoirs can coordinated unanimity or independent the execution.
Said apparatus can be used to control building construction, land and marine communication means, aircraft and astrovehicle, and the vibration of other machines, device or equipment, wherein, described device is as single or multiple unit, or belongs to and change one or more in the example 1 to 7.In building industry, a possible application is the vibration that inhibition or restriction are produced by earthquake, wind or traffic, guarantees stability of structure, durability and operability with this.Example comprises by the danger of motional induction aircraft (motion-induced aircraft) to the structure stability generation of Longspan Bridge, this can produce bending vibration (flexural-torsional oscillations), and this bending vibration meeting is in the construction of this bridge and take place in end-state.The bridge that utilization beam method (cantilever method) is built, has the part (large overhang) of encorbelmenting greatly, for example specifically, just has the described part of encorbelmenting greatly at the cable stayed bridge of building (cable-stayed bridges), the reason of fitful wind in addition in addition, this bridge is subjected to vertically, horizontal and torsional vibration, this entail dangers to stability of structure or work progress.Another example application in building industry is the horizontal or torsional vibration on restriction tall building or the high building, and these vibrations are caused by earthquake or wind.
Favourable situation is, the device that the translational vibration that takes place in the described example (translationalvibrations) can be changed described in the example 1,3 or 4 suppresses, wherein, these devices and their parts are aligned to, and their phase angle is adjusted to the mode of the power that can produce, wherein, the power that is produced is parallel to this translation direction and can offsets with described translational vibration.Advantageously, the device that torsional vibration (torsional vibrations) can be changed described in the example 2,3 or 5 suppresses, wherein, these devices and their parts are aligned to the mode that can produce moment, and wherein, the moment that is produced can be offset described torsional vibration (thus, on bridge, described rotating shaft is along vertical setting of bridge, and on tall building or high building, described rotating shaft vertically is provided with).And, where necessary, can regulate described phase angle, so that do not produce active force simultaneously.Under translational vibration and the symphyogenetic situation of torsional vibration, can work independently according to the device that changes described in the example 1,3,5 or 6, or with change example 2 or 4 joint work.Under the environment of closed loop control or based on the structure motion that records and the environmental conditions that may record (for earthquake, for example, field ground acceleration and site environment) the environment of closed loop control under, calculate and regulate the power that produced and size, frequency and the phase place of moment.In the simplest and the clearest example (simple harmonic oscillation is pure flat moving or twist motion), the power that is produced is on the phase place relative with the phase place of the speed for the treatment of repressed vibration.For for the room that builds a house, favourable situation is that above-mentioned application can be implemented together with changing example 7.
Claims (26)
1. device that is used for structure (30) vibration control has:
-two plastids (10,20), each plastid is rotatably installed around corresponding rotating shaft (12,22) separately, wherein two described rotating shafts are extended on same direction, and have radius (r1, r2) between the rotating shaft (12,22) of the center of gravity of each described plastid and correspondence, and the rotating shaft of one of them plastid can be used as controlled variable since 0 adjustment to the distance between the rotating shaft of another plastid;
-driver, described driver make each described plastid (10,20), and going in ring rotatablely moves;
-at least one inductor (40), described inductor (40) is measured the motion or the acceleration of structure (30); And
-controller (50), described controller (50) is made a concerted effort to produce based on the motion of the described structure that records or the controlled variable of at least one two following plastid of Acceleration Control, so that be operatively connected to the structural vibrations of described device:
Rotational angle (the φ that rotatablely moves of-at least one plastid (10,20)
1, φ
2);
Distance between the rotating shaft (12) of-one described plastid (10) and the rotating shaft (22) of another described plastid (20).
2. device according to claim 1 is characterized in that, has the inductor of a measurement environment condition.
3. device according to claim 1 and 2 is characterized in that, the rotating speed (ω of described two plastids (10,20)
1, ω
2) identical on the numerical value.
4. device according to claim 1 is characterized in that, described two plastids (10,20) have identical quality.
5. device according to claim 1 is characterized in that, for described two plastids (10,20), described any plastid equates to the radius (r1, r2) of the corresponding rotating shaft (12,22) of this plastid (10,20).
6. device according to claim 1 is characterized in that, at least one in described two plastids (10,20) comprises two branch plastids (20a, 20b), and plastid separated on the direction of described rotating shaft (12,22) each other in described minute.
7. device according to claim 1 is characterized in that, the phase relationship between the rotatablely moving of described two plastids (10,20 or 10,20a, 20b) can be regulated by mechanical coupling.
8. device according to claim 1 is characterized in that, rotatablely moving of described two plastids (10,20) carried out with opposite direction.
9. device according to claim 8 is characterized in that, the rotating shaft of described two plastids (10,20) (12,22) overlaps.
10. device according to claim 1 is characterized in that, rotatablely moving of described two plastids (10,20) carried out with identical direction.
11. device according to claim 10 is characterized in that, the phase angle between two described rotatablely moving is always 180 degree.
12. device according to claim 1 is characterized in that, described controller (50) is built into the reaction type controller, and wherein, described controller (50) generates the order of the described device of control based on the numerical value that is recorded by at least one inductor.
13. device according to claim 1 is characterized in that, described device is encapsulated in the reservoir, and wherein, described reservoir is by securely, but also separably, is connected on the described structure.
14. device according to claim 1 is characterized in that, a plurality of described devices are distributed on the described structure (30).
15. device according to claim 14 is characterized in that, the controller of single described device is by the harmony unanimity.
16. device according to claim 14 is characterized in that, the controller of single described device is independent mutually.
17. device according to claim 1 is characterized in that, described controller (50) is controlled at least one plastid to the radius between the rotating shaft corresponding with it based on described motion that records or acceleration.
18. unit that is used for structural vibration control, comprise two according to each described device in the claim 1 to 17, it is characterized in that, first device is linked together with second device, wherein, the rotating shaft (12,22,72,82) of described first device and described second device is extended on same direction.
19. unit according to claim 18 is characterized in that, the rotating speed (ω) of two plastids (10,20) of described first device is numerically identical with the rotating speed (ω) of two plastids (70,80) of described second device.
20. unit according to claim 18 is characterized in that, has a segment distance (b) between described two devices.
21. unit according to claim 20 is characterized in that, the distance (b) between described two devices can be regulated.
22. unit according to claim 20 is characterized in that, the distance (b) between described two devices is 0.
23. unit according to claim 18 is characterized in that, the rotating shaft (12,22,72,82) of the plastid of described two devices (10,20,70,80) coincides.
24. unit according to claim 23 is characterized in that, three unidirectional minute plastid (20a, 20b that always comprise that two sizes equate in described four plastids (10,20,70,80); 70a, 70b; 80a, 80b), wherein, described unidirectional minute plastid (20a, 20b; 70a, 70b; 80a, 80b) be set on the direction of described rotating shaft (12,22), and the distance of leaving the plastid (10) that does not comprise minute plastid equates.
25. unit according to claim 18 is characterized in that, the phase relationship between the rotatablely moving of described plastid (10,20,70,80 or 10,20a, 20b, 70a, 70b, 80a, 80b) can be regulated by mechanical coupling.
26. combination that is used for the unit of structural vibration control, comprise two unit according to claim 18, it is characterized in that first module and Unit second are linked together, wherein, described first module is extended on identical direction with the rotating shaft (12,22,72,82) of described Unit second.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102006059189.5 | 2006-12-15 | ||
| DE102006059189A DE102006059189B4 (en) | 2006-12-15 | 2006-12-15 | Device for vibration control of a construction |
| PCT/EP2007/010953 WO2008071428A1 (en) | 2006-12-15 | 2007-12-13 | Device for vibration control of a structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101646881A CN101646881A (en) | 2010-02-10 |
| CN101646881B true CN101646881B (en) | 2013-07-31 |
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ID=39086141
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007800498208A Active CN101646881B (en) | 2006-12-15 | 2007-12-13 | Device for vibration control of a structure |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US9169894B2 (en) |
| EP (1) | EP2100054B1 (en) |
| JP (1) | JP5254248B2 (en) |
| KR (1) | KR101468517B1 (en) |
| CN (1) | CN101646881B (en) |
| CA (1) | CA2672516C (en) |
| DE (1) | DE102006059189B4 (en) |
| ES (1) | ES2422274T3 (en) |
| PL (1) | PL2100054T3 (en) |
| WO (1) | WO2008071428A1 (en) |
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| DE102009002068A1 (en) * | 2009-04-01 | 2010-10-07 | Robert Bosch Gmbh | damping device |
| DE102011109070B4 (en) | 2011-07-30 | 2016-05-12 | Tutech Innovation Gmbh | Device and set of devices for controlling mechanical vibrations |
| JP5302367B2 (en) * | 2011-08-30 | 2013-10-02 | 国立大学法人 長崎大学 | Damping device and control method thereof |
| CN102494077B (en) * | 2011-12-08 | 2013-06-12 | 中联重科股份有限公司 | Vibration reduction system and vibration reduction method for coupling vibration of tower crane and cable tower |
| WO2014092975A1 (en) * | 2012-12-12 | 2014-06-19 | Lord Corporation | Improved circular force generator devices, systems, and methods for use in an active vibration control system |
| JP5723926B2 (en) * | 2013-06-20 | 2015-05-27 | 国立大学法人 長崎大学 | Damping device and control method thereof |
| CN104615095B (en) * | 2014-12-01 | 2018-05-01 | 上海理工大学 | A kind of more vibration hammer excitings and loading system based on network control |
| DE202016005517U1 (en) | 2016-09-12 | 2016-10-12 | Esm Energie- Und Schwingungstechnik Mitsch Gmbh | Devices and systems with elastic unbalance drive for modifying vibration states |
| US10914357B2 (en) * | 2017-02-15 | 2021-02-09 | Amir Khajepour | Multi-axis reaction system and method for vibration control of mechanical systems |
| CN106978933A (en) * | 2017-02-27 | 2017-07-25 | 大连理工大学 | A kind of active mass damping unit based on rotation excitation actuator |
| PL3480490T3 (en) * | 2017-11-02 | 2021-07-05 | Soletanche Freyssinet | Device for damping vibrations in a structure and use of the device |
| KR101892874B1 (en) * | 2017-11-28 | 2018-08-28 | 권정수 | seismic retrofitting structure of concrete structure |
| DE102018005852A1 (en) | 2018-07-25 | 2020-01-30 | Senvion Gmbh | Assembly method and assembly system for a vibration damper of a wind turbine tower |
| DE102018007356A1 (en) * | 2018-09-18 | 2020-03-19 | Senvion Gmbh | Device and method for damping vibrations of a building |
| GB2591252A (en) * | 2020-01-22 | 2021-07-28 | Airbus Operations Ltd | Load control for an aircraft wing |
| WO2022019923A1 (en) * | 2020-07-24 | 2022-01-27 | Massachusetts Institute Of Technology | Hybrid rotational passive energy absorber |
| US11261931B2 (en) | 2020-07-24 | 2022-03-01 | Massachusetts Institute Of Technology | Hybrid rotational passive energy absorber |
| KR102530061B1 (en) * | 2021-04-19 | 2023-05-09 | 현대엘리베이터주식회사 | Vibration canceling system |
| CN113356672B (en) * | 2021-06-24 | 2022-03-22 | 广东电网有限责任公司湛江供电局 | Active damping control device for breeze vibration of steel pipe power transmission tower component |
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- 2007-12-13 KR KR1020097012401A patent/KR101468517B1/en active IP Right Grant
- 2007-12-13 WO PCT/EP2007/010953 patent/WO2008071428A1/en active Application Filing
- 2007-12-13 EP EP07856698.1A patent/EP2100054B1/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| PL2100054T3 (en) | 2013-09-30 |
| WO2008071428A1 (en) | 2008-06-19 |
| US9169894B2 (en) | 2015-10-27 |
| DE102006059189B4 (en) | 2008-08-14 |
| JP2010512495A (en) | 2010-04-22 |
| EP2100054A1 (en) | 2009-09-16 |
| CA2672516A1 (en) | 2008-06-19 |
| US20100107807A1 (en) | 2010-05-06 |
| EP2100054B1 (en) | 2013-05-29 |
| CA2672516C (en) | 2015-03-31 |
| ES2422274T3 (en) | 2013-09-10 |
| DE102006059189A1 (en) | 2008-06-19 |
| KR20090100355A (en) | 2009-09-23 |
| JP5254248B2 (en) | 2013-08-07 |
| CN101646881A (en) | 2010-02-10 |
| KR101468517B1 (en) | 2014-12-04 |
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